#ifndef CORRESPOND_H
#define CORRESPOND_H


#include <pcl/point_types.h>
#include <pcl/correspondence.h>

using namespace std;
using namespace pcl;


/*!
 \brief

 \param source
 \param target
 \param correspondences
*/
void findCorrespondencesFPFH (
        PointCloud<FPFHSignature33>::Ptr source,
        PointCloud<FPFHSignature33>::Ptr target,
        CorrespondencesPtr correspondences);


/*!
 \brief

 \param source_keypoints
 \param target_keypoints
 \param correspondences
 \param inlierThreshold
*/
void filterCorrespondencesSAC ( PointCloud<PointXYZI>::Ptr source_keypoints,
                                PointCloud<PointXYZI>::Ptr target_keypoints,
                                CorrespondencesPtr correspondences,
                                double inlierThreshold);

#endif
